The best part of an outing may be the pause nobody put on the schedule.

Planned moments are designed to be good, which is a different thing from being memorable. What tends to stay with people is the unscheduled stretch: the bench you sat on longer than intended, the wrong turn, the conversation that started while waiting for something else. Those moments need slack to exist, and a full itinerary removes exactly that. Efficiency and memory are pulling in opposite directions.

Leave a gap in your next outing with nothing assigned to it. When something unplanned starts going well, stay in it and drop whatever was next. The stop you skip is rarely the thing you would have remembered.